Robust physical and virtual identity association

Abstract

The present invention relates to robust physical and virtual identification association. A system within an ego vehicle for robustly associating a physical identification with a virtual identification of a target vehicle comprises: a data processor within the ego vehicle, the data processor comprising a wireless communication module and a visible light communication module; and a plurality of perception sensors within the ego vehicle adapted to collect data associated with the physical identification of the target vehicle and transmit the data associated with the physical identification of the target vehicle to the data processor via a communication bus; the data processor within the ego vehicle adapted to: receive data associated with the virtual identification of the target vehicle via a wireless communication channel; associate the physical identification of the target vehicle with the virtual identification of the target vehicle; and initiate a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for robustly associating a physical identity of a target vehicle detected by perception sensors within an ego vehicle with a virtual identity of the target vehicle received via wireless communication between the ego vehicle and the target vehicle. Background Art

[0002] In current systems, an ego vehicle using a wireless vehicle-to-vehicle or vehicle-to-infrastructure communication channel receives information sent from a target vehicle. This information includes identifying information about the target vehicle, allowing the ego vehicle to identify the target vehicle. This information provides a virtual identity for the target vehicle. This allows the ego vehicle to locate the target vehicle relative to the ego vehicle, enabling actions such as collaborative maneuvering and positioning, as well as infrastructure coordination. Typically, such wireless communication channels are visible to others and susceptible to interception by third parties.

[0003] Furthermore, the ego vehicle will use perception sensors located within the ego vehicle, such as lidar, radar, and cameras, to identify objects, such as target vehicles, that are in close proximity to the ego vehicle. This provides a physical identification of the detected target vehicle. Typically, the ego vehicle's perception sensors may detect multiple target vehicles. Current systems typically trust received virtual identification information without confirming that the received virtual identification information correlates to the correct physical identification information. In other words, current systems do not verify that the wirelessly transmitted information corresponds to the correct one of the multiple target vehicles physically identified by the ego vehicle.

[0004] Furthermore, using both wireless and visible light channels for wireless communications creates an opportunity for a third party to intercept such communications and masquerade as the target vehicle, thereby providing false information to the ego vehicle. When a third-party vehicle is located between the ego vehicle and the target vehicle, it prevents the ego vehicle from visually identifying the target vehicle. In this scenario, the third-party vehicle could intercept visible light channel communications from the target vehicle and retransmit them to the ego vehicle, thereby masquerading as the target vehicle.

[0005] Therefore, while current systems achieve their intended purposes, new and improved systems and methods are needed for robustly associating the physical identity of a target vehicle detected by perception sensors within an ego vehicle with the virtual identity of the target vehicle received via wireless communications between the ego vehicle and the target vehicle, thereby preventing a third party from providing false information to the ego vehicle. Summary of the Invention

[0006] According to several aspects of the present disclosure, a method for robustly associating a physical identifier and a virtual identifier of a target vehicle via an ego vehicle includes: utilizing a plurality of perception sensors within the ego vehicle to collect data related to the physical identifier of the target vehicle, and transmitting the data related to the physical identifier of the target vehicle to a data processor within the ego vehicle via a communication bus; utilizing the data processor within the ego vehicle to collect data related to the virtual identifier of the target vehicle via a wireless communication channel; utilizing the data processor within the ego vehicle to associate the physical identifier of the target vehicle with the virtual identifier of the target vehicle; and utilizing the data processor within the ego vehicle to initiate a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and a visible light communication channel.

[0007] According to another aspect, initiating a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor further includes: using the data processor in the ego vehicle to send a challenge to the target vehicle via the wireless communication channel; using the data processor in the target vehicle to send an expected response time to the challenge to the ego vehicle via the wireless communication channel; and using the data processor in the target vehicle to send a response to the ego vehicle via the visible light communication channel.

[0008] According to another aspect, the method further includes synchronizing a clock in the ego vehicle with a clock in the target vehicle using the data processor in the ego vehicle and the data processor in the target vehicle.

[0009] According to another aspect, the method further includes, after synchronizing a clock in the ego vehicle with a clock in the target vehicle, dividing the timeline into time slots of predetermined lengths, wherein sending an expected response time to the challenge from the target vehicle to the ego vehicle via the wireless communication channel further includes identifying, by the target vehicle, a time slot in which the response to the challenge is to be sent.

[0010] According to another aspect, using a data processor within the target vehicle to send an expected response time to the challenge to the ego vehicle via the wireless communication channel also includes: using the data processor within the target vehicle to send information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel, the method also including, at the expected response time: using the data processor of the ego vehicle to estimate the position of the target vehicle; using the perception sensor on the ego vehicle to identify the physical identifier of the target vehicle based on the estimated position of the target vehicle; and using the data processor within the ego vehicle to verify that the response from the target vehicle matches the expected response.

[0011] According to another aspect, the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using a session key encrypted using a symmetric key.

[0012] According to another aspect, the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

[0013] According to another aspect, sending, using the data processor in the target vehicle, the expected response time to the challenge to the ego vehicle via the wireless communication channel is performed after sending, using the data processor in the ego vehicle, the challenge to the target vehicle via the wireless communication channel.

[0014] According to another aspect, sending, using the data processor in the target vehicle, the expected response time to the challenge to the ego vehicle via the wireless communication channel is performed before sending, using the data processor in the ego vehicle, the challenge to the target vehicle via the wireless communication channel.

[0015] According to several aspects of the present disclosure, a system within an ego vehicle for robustly associating a physical identifier and a virtual identifier of a target vehicle includes: a data processor within the ego vehicle, the data processor including a wireless communication module and a visible light communication module; and a plurality of perception sensors within the ego vehicle adapted to collect data related to the physical identifier of the target vehicle and transmit the data related to the physical identifier of the target vehicle to the data processor via a communication bus; the data processor within the ego vehicle adapted to: receive data related to the virtual identifier of the target vehicle via a wireless communication channel; associate the physical identifier of the target vehicle with the virtual identifier of the target vehicle; and initiate a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel.

[0016] According to another aspect, when a challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor: the data processor in the ego vehicle is further adapted to send a challenge to the target vehicle via the wireless communication channel; and the data processor in the target vehicle is adapted to: send an expected response time to the challenge to the ego vehicle via the wireless communication channel; and send a response to the ego vehicle via the visible light communication channel.

[0017] According to another aspect, the data processor in the ego vehicle and the data processor in the target vehicle are adapted to synchronize a clock in the ego vehicle with a clock in the target vehicle.

[0018] According to another aspect, after synchronizing the clock in the ego vehicle with the clock in the target vehicle, the data processor in the ego vehicle is further adapted to divide the timeline into time slots of predetermined lengths, wherein, when an expected response time to the challenge is sent via the wireless communication channel, the data processor in the target vehicle is further adapted to identify the time slot in which the response to the challenge is to be sent.

[0019] According to another aspect, when an expected response time to the challenge is sent via the wireless communication channel, the data processor in the target vehicle is further adapted to send information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel, and at the expected response time, the data processor in the ego vehicle is further adapted to: estimate the position of the target vehicle; identify the physical identification of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; and verify that the response from the target vehicle matches the expected response.

[0020] According to another aspect, the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using session key encryption.

[0021] According to another aspect, the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

[0022] According to another aspect, the data processor in the target vehicle is adapted to send an expected response time to the challenge to the ego vehicle via the wireless communication channel after the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

[0023] According to another aspect, the data processor in the target vehicle is adapted to send an expected response time to the challenge to the ego vehicle via the wireless communication channel before the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

[0024] The present invention also includes the following technical solutions.

[0025] Solution 1. A method for robustly associating a target vehicle's physical and virtual identities via an ego vehicle, comprising:

[0026] collecting data related to the physical identifier of the target vehicle using a plurality of perception sensors within the ego vehicle, and transmitting the data related to the physical identifier of the target vehicle to a data processor within the ego vehicle via a communication bus;

[0027] collecting, using the data processor in the ego vehicle, data related to the virtual identifier of the target vehicle via a wireless communication channel;

[0028] Associating, using the data processor within the ego vehicle, the physical identifier of the target vehicle with the virtual identifier of the target vehicle; and

[0029] A challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor within the ego vehicle.

[0030] Solution 2. The method of Solution 1, wherein initiating a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor further comprises:

[0031] utilizing the data processor within the ego vehicle to send a challenge to the target vehicle via the wireless communication channel;

[0032] utilizing a data processor within the target vehicle to transmit an expected response time to the challenge to the ego vehicle via the wireless communication channel; and

[0033] Utilizing the data processor within the target vehicle, a response is sent to the ego vehicle via the visible light communication channel.

[0034] Solution 3. The method according to Solution 2 further includes synchronizing a clock in the ego vehicle with a clock in the target vehicle using the data processor in the ego vehicle and the data processor in the target vehicle.

[0035] Option 4. The method according to Option 3 further includes: after synchronizing the clock in the ego vehicle with the clock in the target vehicle, dividing the timeline into time slots of predetermined length, wherein sending the expected response time to the challenge from the target vehicle to the ego vehicle via the wireless communication channel also includes the target vehicle identifying the time slot in which the response to the challenge will be sent.

[0036] Option 5. The method of Option 4, wherein transmitting, using a data processor in the target vehicle, the expected response time to the challenge to the ego vehicle via the wireless communication channel further comprises: transmitting, using the data processor in the target vehicle, information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel, wherein, during the expected response time:

[0037] estimating a position of the target vehicle using the data processor of the ego vehicle;

[0038] identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; and

[0039] The data processor within the ego vehicle is utilized to verify that the response from the target vehicle matches an expected response.

[0040] Solution 6. The method of solution 5, wherein the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using a session key encrypted using a symmetric key.

[0041] Option 7. The method of Option 5, wherein the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

[0042] Option 8. The method according to Option 5, wherein the sending of the expected response time to the challenge to the ego vehicle via the wireless communication channel using the data processor in the target vehicle is performed after the sending of the challenge to the target vehicle via the wireless communication channel using the data processor in the ego vehicle.

[0043] Option 9. The method according to Option 5, wherein the sending of the expected response time to the challenge to the ego vehicle via the wireless communication channel using the data processor in the target vehicle is performed before the sending of the challenge to the target vehicle via the wireless communication channel using the data processor in the ego vehicle.

[0044] Solution 10. A system within an ego vehicle for robust association of a physical identity and a virtual identity of a target vehicle, comprising:

[0045] a data processor located in the ego vehicle, the data processor comprising a wireless communication module and a visible light communication module; and

[0046] a plurality of perception sensors located within the ego vehicle and adapted to collect data related to a physical identifier of the target vehicle and transmit the data related to the physical identifier of the target vehicle to the data processor via a communication bus;

[0047] The data processor in the ego vehicle is adapted to:

[0048] receiving data related to the virtual identification of the target vehicle via a wireless communication channel;

[0049] associating the physical identifier of the target vehicle with the virtual identifier of the target vehicle; and

[0050] A challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel.

[0051] Solution 11. The system of solution 10, wherein when a challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor:

[0052] The data processor within the ego vehicle is further adapted to send a challenge to the target vehicle via the wireless communication channel; and

[0053] The data processor in the target vehicle is adapted to:

[0054] sending an expected response time to the challenge to the ego vehicle via the wireless communication channel; and

[0055] A response is sent to the ego vehicle via the visible light communication channel.

[0056] Embodiment 12. The system of embodiment 11, wherein the data processor in the ego vehicle and the data processor in the target vehicle are adapted to synchronize a clock in the ego vehicle with a clock in the target vehicle.

[0057] Option 13. A system according to Option 12, wherein, after synchronizing the clock in the ego vehicle with the clock in the target vehicle, the data processor in the ego vehicle is further adapted to divide the timeline into time slots of predetermined length, wherein, when the expected response time to the challenge is sent via the wireless communication channel, the data processor in the target vehicle is further adapted to identify the time slot in which the response to the challenge is to be sent.

[0058] Option 14. The system of Option 13, wherein, when an expected response time to the challenge is transmitted via the wireless communication channel, the data processor in the target vehicle is further adapted to transmit information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel, and at the expected response time, the data processor in the ego vehicle is further adapted to:

[0059] estimating a position of the target vehicle;

[0060] identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; and

[0061] Verifying that the response from the target vehicle matches the expected response.

[0062] Embodiment 15. The system of embodiment 14, wherein the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using a session key encrypted using a symmetric key.

[0063] Embodiment 16. The system of embodiment 14, wherein the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

[0064] Option 17. A system according to Option 14, wherein the data processor in the target vehicle is suitable for sending an expected response time to the challenge to the ego vehicle via the wireless communication channel after the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

[0065] Option 18. A system according to Option 14, wherein the data processor in the target vehicle is suitable for sending an expected response time to the challenge to the ego vehicle via the wireless communication channel before the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

[0066] Solution 19. A method for robustly associating a physical identifier and a virtual identifier of a target vehicle via an ego vehicle, comprising:

[0067] collecting data related to the physical identifier of the target vehicle using a plurality of perception sensors within the ego vehicle, and transmitting the data related to the physical identifier of the target vehicle to a data processor within the ego vehicle via a communication bus;

[0068] collecting, using the data processor in the ego vehicle, data related to the virtual identifier of the target vehicle via a wireless communication channel;

[0069] associating, using the data processor within the ego vehicle, the physical identifier of the target vehicle with the virtual identifier of the target vehicle;

[0070] synchronizing a clock in the ego vehicle with a clock in the target vehicle using the data processor in the ego vehicle and the data processor in the target vehicle;

[0071] dividing a timeline into time slots of predetermined length using the data processor within the ego vehicle;

[0072] initiating, using the data processor within the ego vehicle, a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel by sending a challenge to the target vehicle via the wireless communication channel;

[0073] transmitting, using a data processor within the target vehicle, to the ego vehicle via the wireless communication channel, an expected response time to the challenge, including identifying a time slot within which a response to the challenge is to be transmitted and information related to the current position and movement of the target vehicle; and

[0074] In the expected response time:

[0075] utilizing the data processor in the target vehicle to send a response to the ego vehicle via the visible light communication channel;

[0076] estimating a position of the target vehicle using the data processor of the ego vehicle;

[0077] identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; and

[0078] The data processor within the ego vehicle is utilized to verify that the response from the target vehicle matches an expected response.

[0079] Embodiment 20. The method of embodiment 5, wherein the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using one of a session key using symmetric key encryption and public key encryption.

[0080] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0082] Figure 1 is a schematic diagram of a system for robust association of a physical identification and a virtual identification of a target vehicle according to an exemplary embodiment of the present disclosure;

[0083] Figure 2 is a schematic diagram of an application of the system of the present disclosure, wherein an ego vehicle is associating a physical and a virtual identity for each of two target vehicles;

[0084] Figure 3 is a schematic diagram illustrating the relationship of the recognized physical identifier, the received virtual identifier, and the actual position of the target vehicle relative to the ego vehicle;

[0085] Figure 4 is the probability distribution map of the target vehicle’s physical identity, virtual identity, and actual location;

[0086] Figure 5 is a schematic diagram of a scenario in which an imposter vehicle may intercept a virtual transmission from a target vehicle;

[0087] Figure 6 is a schematic diagram illustrating the communication flow between an ego vehicle and a target vehicle during a challenge-response protocol;

[0088] Figure 7 is a timeline illustrating the transmission of a response from a target vehicle to an ego vehicle;

[0089] Figure 8 is a timeline illustrating the transmission of a response from a target vehicle intercepted by an imposter vehicle before being rebroadcast to the ego vehicle;

[0090] Figure 9 is a schematic diagram illustrating the communication flow between an ego vehicle and a target vehicle during a challenge-response protocol according to an alternative embodiment;

[0091] Figure 10is a schematic flow chart illustrating a method of using a system for robust association of a physical identification and a virtual identification of a target vehicle;

[0092] Figure 11 It's a picture Figure 10 A schematic flow chart of an exemplary embodiment of the method shown in , wherein the ego vehicle first sends a challenge, and subsequently, the target vehicle sends an expected response time to the challenge;

[0093] Figure 12 It's a picture Figure 10 Schematic flow chart of another exemplary embodiment of the method shown in , wherein the target vehicle first sends an expected response time to a challenge and subsequently the ego vehicle sends a challenge.

[0094] The drawings are not necessarily drawn to scale, and some features may be exaggerated or minimized, for example, to illustrate details of particular components. In some cases, well-known components, systems, materials, or methods have not been described in detail to avoid obscuring the present disclosure. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but merely as a basis for the claims and as a representative basis for teaching those skilled in the art to variously employ the present disclosure. DETAILED DESCRIPTION

[0095] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its application, or use. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, summary, or the following detailed description. It should be understood that throughout the drawings, corresponding reference numerals indicate identical or corresponding components and features. As used herein, the term "module" refers to any hardware, software, firmware, electronic control component, processing logic, and / or processor device, alone or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped) that execute one or more software or firmware programs and memory, combinational logic circuits, and / or other suitable components that provide the described functionality. Although the figures shown herein depict examples with certain component arrangements, additional intervening elements, devices, features, or components may be present in actual embodiments. It should also be understood that these figures are illustrative only and may not be drawn to scale.

[0096] As used herein, the term "vehicle" is not limited to automobiles. While the present technology is primarily described herein in conjunction with automobiles, it is not limited to automobiles. These concepts can be used in a wide range of applications, such as in conjunction with aircraft, ships, other vehicles, and consumer electronics components.

[0097] refer to Figure 1The system 10 within the ego vehicle 12 for robust association of the physical and virtual identities of a target vehicle 14 includes a data processor 16 located within the ego vehicle 12 , the data processor 16 including a wireless communication module 18 and a visible light communication module 19 .

[0098] The data processor 16 is a non-general purpose electronic control device that has a pre-programmed digital computer or processor, memory or non-transitory computer-readable media for storing data such as control logic, software applications, instructions, computer code, data, look-up tables, and a transceiver or input / output port. Computer-readable media includes any type of media that can be accessed by a computer, such as read-only memory (ROM), random-access memory (RAM), a hard drive, a compact disc (CD), a digital video disc (DVD), or any other type of memory. "Non-transitory" computer-readable media does not include wired, wireless, optical, or other communication links that transmit transient electrical or other signals. Non-transitory computer-readable media includes media that can permanently store data as well as media that can store data and subsequently rewrite it, such as rewritable optical discs or erasable memory devices. Computer code includes any type of program code, including source code, object code, and executable code.

[0099] Data processor 16 includes a wireless communication module 18 adapted to enable wireless communication between ego vehicle 12 and other vehicles or other external sources. Data processor 12 is adapted to collect information from a database 22 via a wireless data communication network 20 over a wireless communication channel such as a WLAN, 4G / LTE, or 5G network. Such a database 22 may communicate directly via the internet or may be a cloud-based database. Information that may be collected by data processor 16 from such external sources includes, but is not limited to, road and highway databases maintained by the Department of Transportation, global positioning systems, the internet, other vehicles via a vehicle-to-vehicle communication network, traffic information sources, vehicle-based support systems such as OnStar, and the like.

[0100] Data processor 16 also includes a visible light communication module that enables wireless communication between ego vehicle 12 and other vehicles via visible light. Visible light communication (VLC), or LIFI, is a data communication technology that uses a visible light source as a signal transmitter, air as a transmission medium or channel, and a signal receiving device. Typically, the transmitter is a light emitting diode (LED), while the receiver is primarily a photodetector, typically a photodiode.

[0101] Wireless communication module 18 and visible light communication module 19 enable two-way communication between data processor 16 of ego vehicle 12 and data processor 16′ in target vehicle 14, which is also equipped with wireless communication module 18′ and visible light communication module 19′. Wireless communication module 18 and visible light communication module 19 also enable two-way communication between data processor 16 of ego vehicle 12 and other vehicles, mobile devices, and infrastructure for the purpose of triggering important communications and events.

[0102] System 10 also includes a plurality of perception sensors 24 located within ego vehicle 12. The plurality of perception sensors 24 include sensors adapted to collect data related to the physical identification of target vehicle 14. Such sensors 24 include, but are not limited to, radar, lidar, and cameras, which allow the ego vehicle to "see" nearby objects. The plurality of perception sensors 24 transmits data related to the physical identification of target vehicle 14 to data processor 16 via a communication bus 26 within ego vehicle 12.

[0103] The data processor 16 is further adapted to receive data related to the virtual identity of the target vehicle 14 via the wireless communication channel 20 and associate the physical identity of the target vehicle 14 with the virtual identity of the target vehicle 14. The target vehicle 14 includes a plurality of perception sensors 24' located within the target vehicle 14 and a data processor 16' equipped with a wireless communication module 18'. The plurality of perception sensors 24' communicate with the data processor 16' via a communication bus 26' within the target vehicle 14.

[0104] The wireless communication module 18 ′ within the target vehicle 14 allows the target vehicle 14 to transmit data related to the virtual identity of the target vehicle 14 to the ego vehicle 12 via the wireless communication network 20 .

[0105] refer to Figure 2 In an exemplary scenario, the plurality of perception sensors 24 within ego vehicle 12 detects a first target vehicle 14A and a second target vehicle 14B in the vicinity of ego vehicle 12. Ego vehicle 12 also wirelessly receives data associated with a virtual identification of first target vehicle 14A, as shown at 27. Such virtual identification data may include, but is not limited to, information such as an IP address, VIN number, license plate number, and GPS coordinates. However, both first and second target vehicles 14A and 14B may be of the same model and color, making it difficult for ego vehicle 12 to properly associate the virtual identification information with the correct one of first and second target vehicles 14A and 14B. It is important for ego vehicle 12 to properly associate the virtual identification information with the correct one of first and second target vehicles 14A and 14B.

[0106] In order for the ego vehicle 12 to effectively and safely make decisions regarding lane changes, speed adjustments, and other such maneuvers, it is important that the ego vehicle 12 correctly associates the virtual identity with the correct physical identity—that is, the correct one of the first and second target vehicles 14A, 14B. This ensures that the ego vehicle 12 is communicating with the correct one of the first and second target vehicles 14A, 14B. Furthermore, the ego vehicle 12 can receive virtual identity data from each of the first and second target vehicles 14A, 14B. Proper association of the virtual and physical identities ensures that the ego vehicle 12 knows which virtual data is associated with which of the first and second target vehicles 14A, 14B.

[0107] In an exemplary embodiment, when associating the physical identifier of the target vehicle 14 with the virtual identifier of the target vehicle 14, the data processor 16 is further adapted to utilize a Bayesian inference model and estimate the probability that the data associated with the physical identifier and the data associated with the virtual identifier are for the same target vehicle 14. In other words, the data processor 16 uses the Bayesian inference model to match the data received from the target vehicle 14 with the physical observations of the ego vehicle 12.

[0108] When using the Bayesian inference model, the data processor 16 constructs a two-dimensional discrete probability distribution table, for example:

[0109] ,

[0110] in, .

[0111] There are m virtual identities (V1 … V m ) and n physical identifiers (P1 … P n ). P i,j It's P j With V i For each physical identifier, such a state model is created, and multiple such state models of all physical identifiers will form a two-dimensional table.

[0112] Bayes' theorem is given by the following formula:

[0113] , where D represents the data and h represents the hypothesis. This gives the calculation:

[0114] ,and

[0115] ,in

[0116] D represents two sets of sensor observations (physical and virtual);

[0117] Hj,i represents the assumption that physical j matches virtual i;

[0118] is the sensor data for a given hypothesis, or the likelihood probability distribution of two sets of observation data given the hypothesis;

[0119] is a priori hypothesis, or a priori probability distribution of the hypothesis (defined by the state at time t-1). At the beginning, If ten target vehicles are identified, initially, each probability will be 10%, and will then be updated;

[0120] P(D) is the evidential probability of the two sets of sensor observations; and

[0121] is the posterior hypothesis, or the posterior probability distribution of the hypothesis (the state at time t). The state table (hypothesis) is updated using sensor observations. As new data arrives, the state table is updated to represent a more accurate probability that a physical identifier matches a virtual identifier.

[0122] The Bayesian inference algorithm is as follows:

[0123] Step 1: Collect sensor data from two sources: from local perception sensors (physical), and from wireless communication channels 20 (virtual).

[0124] Step 2: Create or update the two-dimensional state table (if a new identity is detected, create a new row / column, delete the row / column in the identity that no longer exists). If a new row is created, the columns in the new row are initialized to .

[0125] Step 3: Use the state table as a prior probability distribution .

[0126] Step 4: Use sensor data to calculate and P(D).

[0127] Step 5: Update the posterior probability distribution .

[0128] Step 6: Used to update the two-dimensional state table.

[0129] Step 7: In the state table, find the maximum probability of hypothesis (j,i) as the current output of the algorithm, that is, with probability p j,i The physical identification of i.

[0130] Step 8: Return to Step 1.

[0131] In one exemplary embodiment, when the physical identifier of the target vehicle 14 is associated with the virtual identifier of the target vehicle 14, the data processor is further adapted to use data associated with the physical identifier of the target vehicle 14 to determine the relative position of the target vehicle 14 and estimate the real-time status of the target vehicle 14. The data associated with the physical identifier of the target vehicle 14 includes global satellite positioning coordinates, speed, acceleration, yaw, and heading, and the data associated with the virtual identifier of the target vehicle 14 includes global satellite positioning coordinates, speed, acceleration, yaw, and heading.

[0132] In this embodiment, the target vehicle 14 transmits only basic safety information, including global satellite positioning coordinates, speed, acceleration, yaw, and heading. The ego vehicle 12 uses the plurality of perception sensors 24 to determine the relative position of one or more target vehicles and estimate their real-time state, i.e., global satellite positioning coordinates, speed, acceleration, yaw, and heading. The ego vehicle 12 receives the basic safety information of one or more target vehicles, and the data processor in the ego vehicle 12 runs a Bayesian inference algorithm and calculates and P(D).

[0133] refer to Figure 3 , shows an example where the ego vehicle 12 detects a first target vehicle 14A and a second target vehicle 14B using multiple perception sensors. For the first target vehicle 14A, the vehicle's position (physical identifier), as shown by P1, is observed by the ego vehicle's perception sensor 24 (camera). As shown by V4, the GPS position (virtual identifier) of the first target vehicle 14A is reported by the first target vehicle 14A via a wireless communication channel. In one assumption, h 1,4 , P1, and V4 are identical identifiers, while the true group position of the first target vehicle is indicated at 14A. In other words, P1 and V4 are identical observations of 14A from two sets of sensors. Sensor fusion can then be used to estimate the probability distribution of the ground truth G1. The G1 distribution can be calculated using a second set of Bayesian inference models.

[0134] refer to Figure 4 , shows a graph illustrating the probability distribution of P1, V4 and G1, where:

[0135] ,and

[0136] .

[0137] refer to Figure 5In another exemplary scenario, multiple perception sensors 24 within ego vehicle 12 detect a second target vehicle TV2 and a third target vehicle TV3. The view of first target vehicle TV1 is obstructed, so the ego vehicle cannot physically perceive first target vehicle TV1. However, ego vehicle 12 does wirelessly receive data associated with the virtual identifier of first target vehicle TV1. It is possible that third target vehicle TV3 could intercept the virtual information from first target vehicle TV1 and masquerade as first target vehicle TV1. Furthermore, third target vehicle TV3 could collude with second target vehicle TV2 to help second target vehicle TV2 masquerade as first target vehicle TV1. Therefore, the ego vehicle initiates a challenge-response protocol between the ego vehicle and the target vehicles via wireless and visible light communication channels to verify the validity of the association between the physical and virtual identifiers of first target vehicle TV1. If the challenge-response protocol is answered correctly, ego vehicle 12 accepts the association of the physical and virtual identifiers of first target vehicle TV1. If the challenge-response protocol is answered incorrectly, ego vehicle 12 ignores the association of the physical and virtual identifiers of first target vehicle TV1.

[0138] refer to Figure 6 The ego vehicle 12 and the target vehicle 14 exchange information via the wireless communication network 20, as shown at 30, wherein the ego vehicle 12 receives information related to the virtual identifier of the target vehicle 14. When the data processor 16 in the ego vehicle initiates a challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel and the visible light communication channel, the data processor 16 in the ego vehicle 12 sends a challenge to the target vehicle via the wireless communication channel, as shown at 32. The challenge is given as Hash (Ego Vehicle ID, Target Vehicle ID, Randomness from Ego Vehicle, Session ID) and is encrypted to make it difficult for unauthorized parties to decipher.

[0139] When the data processor 16 ′ in the target vehicle 14 receives the challenge, the data processor 16 ′ in the target vehicle 14 is adapted to send the expected response time to the challenge to the ego vehicle 12 via the wireless communication channel 20 , as shown at 34 , and send a response to the ego vehicle 12 via the visible light communication channel, as shown at 36 .

[0140] Prior to initiating the challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel 20 and the visible light communication channel, the data processor 16 within the ego vehicle 12 and the data processor 16′ within the target vehicle 14 are adapted to synchronize the clock within the ego vehicle 12 with the clock within the target vehicle 14. It should be understood that the clock within the ego vehicle 12 and the clock within the target vehicle 14 are referenced to the built-in time tracking capabilities of each of the respective data processors 16, 16′. This is important to ensure that the vehicles have the same understanding of time because, as described below, the time at which the target vehicle sends its response is critical.

[0141] Once the time is synchronized between the data processor 16 of the ego vehicle 12 and the data processor 16′ of the target vehicle 14, the data processor 16 within the ego vehicle is further adapted to divide the timeline into time slots 38 of predetermined length. When the target vehicle 14 sends the expected response time to the challenge, the data processor 16′ within the target vehicle 14 is further adapted to identify a single time slot 38 within which the response to the challenge will be sent. Furthermore, the target vehicle 14 is further adapted to transmit information regarding the current position (i.e., GPS coordinates) and movement (i.e., velocity, acceleration, and yaw) of the target vehicle 14 to the ego vehicle 12 via the wireless communication channel 20.

[0142] The response to the challenge must be received within the time slot 38 identified by the target vehicle 14. The predetermined length of the time slot 38 is carefully calculated to allow the target vehicle 14 enough time to send a response, while being short enough that there is not enough time for another vehicle to intercept, read, and rebroadcast the response. This prevents a different vehicle from intercepting the response and pretending to be the target vehicle 14.

[0143] refer to Figure 7 , shows a timeline of the response transmission of the target vehicle 14. In the exemplary embodiment, the predetermined length of the time slot 38 is given as TS = 2 x guard + T-data, where guard is a time length equal to the maximum synchronization error between the clock of the ego vehicle 12 and the clock of the target vehicle 14, as shown at 40, and T-data is given as T-data = TOF + Data Length, where TOF is the time of flight, or the time required for the response to travel from the target vehicle 14 to the ego vehicle 12, as shown at 42, and Data Length is the time required to transmit the data, as shown at 44.

[0144] like Figure 7As shown in FIG, at the start of the indicated time slot 38, the ego vehicle 12 begins counting down for the predetermined length of the time slot 38. As shown, a synchronization error (guard) is taken into account, as indicated at 40'. At the start of time slot 38, the target vehicle 14 transmits a response based on the clock within the target vehicle 14, taking into account the guard 40'. Again, taking into account the maximum synchronization error (guard) 40, transmission of the response actually begins at 46. The time-of-flight (TOF), shown at 42, is the time it takes for the response to reach the ego vehicle 12. The ego vehicle 12 begins receiving the response at point 48. The time required to transmit the entire response is the Data Length, shown at 44. The ego vehicle 12 receives the entire response at point 50, within the predetermined length of time slot 38.

[0145] refer to Figure 8 , illustrates a scenario where an imposter vehicle 52 attempts to intercept a response sent by target vehicle 14. At point 54, identifying the start of time slot 38, target vehicle 14 begins sending a response to ego vehicle 12. Taking guard 40 into account, actual transmission of the response begins at point 56. The time-of-flight (TOF), shown at 42, is the time it takes for the response to reach ego vehicle 12, excluding the time it is intercepted by imposter vehicle 52. The time it takes for imposter vehicle 52 to decrypt, read, and rebroadcast the response (relay time), indicated at 58. Once the imposter vehicle 52 has read and rebroadcast the response, the time-of-flight (TOF), shown at 42′, is the time it takes for the response to reach ego vehicle 12. Ego vehicle 12 begins receiving the response at point 60. The time required to transmit the entire response is the Data Length, shown at 44. Ego vehicle 12 receives the entire response at point 62, which is outside the predetermined time length of time slot 38. To be acceptable, ego vehicle 12 would need to receive the entire response at point 64 or earlier. Since the response is received outside of the predetermined time slot 38 , the ego vehicle 12 will ignore the response and assume that the association of the physical and virtual identities of the target vehicle 14 is incorrect.

[0146] To prevent relay attacks from impersonating vehicles, the following conditions must be met:

[0147] guard + T-data < 2 x TOF + Relay Time + Data Length; and

[0148] TOF + Data Length < T-data < 2 x TOF + Relay Time + Data Length –guard.

[0149] The above inequality holds only if:

[0150] TOF + Relay Time – guard > 0; and

[0151] Guard < (TOF + Relay Time).

[0152] At the expected response time, the data processor 16 within the ego vehicle 12 is also adapted to estimate the location of the target vehicle 14 using the location and movement information previously transmitted by the target vehicle 14. Simultaneously, the data processor 16 within the ego vehicle 12 utilizes the perception sensors 24 to identify the physical identity of the target vehicle 14 based on the estimated location of the target vehicle 14. Finally, the data processor 16 within the ego vehicle 12 verifies that the response from the target vehicle 14 matches the expected response. If the responses match, and are received within the identified time slot 38, the ego vehicle 12 can verify that it has properly associated the virtual and physical identities of the target vehicle 14.

[0153] To further prevent imposter interference, the challenges and responses exchanged between the ego vehicle 12 and the target vehicle 14 are encoded. For example:

[0154] Challenge = Hash(Ego ID, Target Vehicle ID, Randomness from EgoVehicle, Session ID); and

[0155] Response = KDF(SessionKey, Challenge, t-start, t-end), where KDF is the KeyDerivative Function and [t-start, t-end] is the scheduled time slot 38 for sending the response.

[0156] In one exemplary embodiment, the challenge sent by ego vehicle 12 and the response sent by target vehicle 14 are encrypted using session key encryption. A session key is a randomly generated encryption and decryption key that secures the communication session between two vehicles. Session keys can also be generated using a deterministic process (key establishment protocol), such as Diffie-Hellman, a public key protocol in which both parties use their respective public key pairs and their respective random inputs. Session keys are sometimes called symmetric keys because the same key is used for both encryption and decryption. A session key is used only for one session. It is then discarded, and a new key is randomly generated for the next session. The session key itself is a secret that can be used with either symmetric or public key encryption algorithms. However, in practice, session keys are mostly used for symmetric key encryption.

[0157] In another exemplary embodiment, the challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key cryptography. Compared to symmetric key cryptography, public key or asymmetric cryptography uses two keys, a public key and a private key, rather than a single key, to protect data communications between two parties over an open network.

[0158] Reference again Figure 6 In the exemplary embodiment shown, the data processor 16' in the target vehicle 14 is adapted to send an expected response time to the challenge, as shown at 34, to the ego vehicle 12 via the wireless communication channel 20 after the data processor 16 in the ego vehicle 12 sends the challenge to the target vehicle 14 via the wireless communication channel, as shown at 32. Figure 9 Alternatively, in another exemplary embodiment, the data processor 16′ within the target vehicle 14 is adapted to send an expected response time to the challenge, as shown at 34, to the ego vehicle 12 via the wireless communication channel 20 before the data processor 16 within the ego vehicle 12 sends the challenge to the target vehicle 14 via the wireless communication channel, as shown at 32. In this way, the target vehicle 14 provides the identified time slot 38 to the ego vehicle 12 before a potential imposter vehicle has an opportunity to intercept the challenge and potentially break any encryption. The ego vehicle 12 can wait until the identified time slot 38 is approaching before sending the challenge, thereby reducing the amount of time a potential imposter would need to break any encryption, read, and rebroadcast, thereby reducing the likelihood that an imposter would be able to successfully intercept and impersonate the target vehicle 14.

[0159] refer to Figure 10The method 100 for robustly associating a physical identifier and a virtual identifier of a target vehicle 14 by the ego vehicle 12 includes, beginning at block 102, collecting data related to the physical identifier of the target vehicle 14 using a plurality of perception sensors 24 within the ego vehicle 12, and transmitting the data related to the physical identifier of the target vehicle 14 to the data processor 16 within the ego vehicle 12 via the communication bus 26. Moving to block 104, the method 100 includes collecting data related to the virtual identifier of the target vehicle 14 using the data processor 16 within the ego vehicle 12 via the wireless communication channel 20. Moving to block 106, the method 100 includes associating the physical identifier of the target vehicle 14 with the virtual identifier of the target vehicle 14 using the data processor 16 within the ego vehicle 12.

[0160] Moving to block 108 , the method 100 includes initiating a challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel 20 and the visible light communication channel 21 using the data processor 16 within the ego vehicle 12 .

[0161] refer to Figure 11 In one exemplary embodiment, initiating a challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel 20 and the visible light communication channel 21 using the data processor 16 at block 108 further includes: starting at block 110 , using the data processor 16 in the ego vehicle 12 to send a challenge to the target vehicle 14 via the wireless communication channel 20 , such as Figure 6 Moving to block 112, the method 100 includes utilizing the data processor 16' within the target vehicle 14 to send the expected response time to the challenge to the ego vehicle 12 via the wireless communication channel 20, as shown in FIG. Figure 6 Moving to block 114, the method 100 includes utilizing the data processor 16' within the target vehicle 14 to send a response to the ego vehicle 12 via the visible light communication channel 21, as shown in FIG. Figure 6 As shown in 36.

[0162] refer to Figure 12 In another exemplary embodiment, initiating a challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel 20 and the visible light communication channel 21 using the data processor 16 at block 108 further includes: starting at block 116, using the data processor 16' in the target vehicle 14 to send an expected response time to the challenge to the ego vehicle 12 via the wireless communication channel 20, such as Figure 9 Moving to block 118, the method 100 includes utilizing the data processor 16 within the ego vehicle 12 to send a challenge to the target vehicle 14 via the wireless communication channel 20, as shown in FIG. Figure 9Moving to block 120, the method 100 includes utilizing the data processor 16' within the target vehicle 14 to send a response to the ego vehicle 12 via the visible light communication channel 21, as shown in FIG. Figure 9 36 in . In this embodiment, the target vehicle 14 provides the identified time slot 38 to the ego vehicle 12 before a potential imposter vehicle has a chance to intercept the challenge and potentially break any encryption. The ego vehicle 12 can wait until the identified time slot 38 is approaching before sending the challenge, thereby reducing the amount of time a potential imposter would need to break any encryption, read, and rebroadcast, thereby reducing the likelihood that the imposter will be able to successfully intercept and impersonate the target vehicle 14.

[0163] Reference again Figure 10 It is important that the time between the ego vehicle 12 and the target vehicle 14 be synchronized, therefore, at block 122 , before initiating the challenge-response protocol between the ego vehicle 12 and the target vehicle 14 via the wireless communication channel 20 and the visible light communication channel 21 using the data processor 16 at block 108 , the method 100 includes synchronizing a clock within the ego vehicle 12 with a clock within the target vehicle 14 using the data processor 16 within the ego vehicle 12 and the data processor 16 ′ within the target vehicle 14 .

[0164] Moving to block 124 , after synchronizing the clock within the ego vehicle 12 with the clock within the target vehicle 14 , the method 100 includes dividing the timeline into time slots 38 having predetermined lengths, wherein sending the expected response time to the challenge from the target vehicle 14 to the ego vehicle 12 via the wireless communication channel 20 at blocks 112 and 116 further includes identifying, by the target vehicle 14 , the time slots 38 within which the response to the challenge is to be sent.

[0165] In an exemplary embodiment, sending the expected response time to the challenge to the ego vehicle 12 via the wireless communication channel 20 using the data processor 16′ within the target vehicle 14 at blocks 112 and 116 also includes: sending information related to the current position and movement of the target vehicle 14 to the ego vehicle 12 via the wireless communication channel 20 using the data processor within the target vehicle 14, the method 100 also includes: at the expected response time, moving to block 126, estimating the position of the target vehicle 14 using the data processor 16 of the ego vehicle 12, moving to block 128, identifying a physical identifier of the target vehicle 14 based on the estimated position of the target vehicle 14 using the perception sensors 24 on the ego vehicle 12, and moving to block 130, verifying that the response from the target vehicle 14 matches the expected response using the data processor 16 within the ego vehicle 12.

[0166] At the expected response time, the data processor 16 within the ego vehicle 12 is also adapted to estimate the location of the target vehicle 14 using the location and movement information previously transmitted by the target vehicle 14. Simultaneously, the data processor 16 within the ego vehicle 12 utilizes the perception sensors 24 to identify the physical identity of the target vehicle 14 based on the estimated location of the target vehicle 14. Finally, the data processor 16 within the ego vehicle 12 verifies that the response from the target vehicle 14 matches the expected response. Moving to block 132, the method 100 includes verifying whether the response matches and that the response was received within the identified time slot 38.

[0167] Moving to block 134, if the response matches, and the response was received within the identified time slot 38, then the data processor 16 within the ego vehicle 12 will trust its association of the physical and virtual identities of the target vehicle 14. Moving to block 136, if the response does not match, or if the response was not received within the identified time slot 38, then the data processor 16 within the ego vehicle 12 will know that it cannot trust its association of the physical and virtual identities of the target vehicle 14.

[0168] The association between the virtual lanes 20, 21 and the vehicles on the road is a continuous process that runs periodically. Therefore, after verifying at block 132 whether the response matches and whether the response is received within the identified time slot 38, the method 100 loops back to block 102 as shown at 138.

[0169] The description of the present disclosure is merely exemplary in nature, and variations that do not depart from the gist of the present disclosure are intended to fall within the scope of the present disclosure. Such variations should not be regarded as a departure from the spirit and scope of the present disclosure.

Claims

1. A method for robustly associating a physical identifier and a virtual identifier of a target vehicle via an ego vehicle, comprising: collecting data related to the physical identifier of the target vehicle using a plurality of perception sensors within the ego vehicle, and transmitting the data related to the physical identifier of the target vehicle to a data processor within the ego vehicle via a communication bus; collecting, using the data processor in the ego vehicle, data related to the virtual identifier of the target vehicle via a wireless communication channel; associating, using the data processor within the ego vehicle, the physical identifier of the target vehicle with the virtual identifier of the target vehicle; as well as A challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor within the ego vehicle.

2. The method according to claim 1, wherein Initiating a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor further includes: utilizing the data processor within the ego vehicle to send a challenge to the target vehicle via the wireless communication channel; utilizing a data processor within the target vehicle to transmit an expected response time to the challenge to the ego vehicle via the wireless communication channel; and Utilizing the data processor within the target vehicle, a response is sent to the ego vehicle via the visible light communication channel. 3 . The method of claim 2 , further comprising synchronizing a clock in the ego vehicle with a clock in the target vehicle using the data processor in the ego vehicle and the data processor in the target vehicle.

4. The method according to claim 3, further comprising: After synchronizing a clock within the ego vehicle with a clock within the target vehicle, dividing the timeline into time slots having predetermined lengths, wherein sending an expected response time to the challenge from the target vehicle to the ego vehicle via the wireless communication channel also includes identifying, by the target vehicle, a time slot within which a response to the challenge is to be sent.

5. The method according to claim 4, wherein The method further comprises: utilizing a data processor in the target vehicle to transmit an expected response time to the challenge to the ego vehicle via the wireless communication channel; utilizing the data processor in the target vehicle to transmit information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel; wherein, at the expected response time: estimating a position of the target vehicle using the data processor of the ego vehicle; identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; and The data processor within the ego vehicle is utilized to verify that the response from the target vehicle matches an expected response.

6. The method according to claim 5, wherein: The challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using a session key encrypted using a symmetric key.

7. The method according to claim 5, wherein: The challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

8. The method according to claim 5, wherein Sending the expected response time to the challenge to the ego vehicle via the wireless communication channel using the data processor in the target vehicle is performed after sending the challenge to the target vehicle via the wireless communication channel using the data processor in the ego vehicle.

9. The method according to claim 5, wherein: Sending the expected response time to the challenge to the ego vehicle via the wireless communication channel using the data processor in the ego vehicle is performed before sending the challenge to the target vehicle via the wireless communication channel using the data processor in the ego vehicle.

10. A system within an ego vehicle for robust association of a physical identity and a virtual identity of a target vehicle, comprising: a data processor located in the ego vehicle, the data processor comprising a wireless communication module and a visible light communication module; as well as a plurality of perception sensors located within the ego vehicle and adapted to collect data related to a physical identifier of the target vehicle and transmit the data related to the physical identifier of the target vehicle to the data processor via a communication bus; The data processor in the ego vehicle is adapted to: receiving data related to the virtual identification of the target vehicle via a wireless communication channel; associating the physical identifier of the target vehicle with the virtual identifier of the target vehicle; as well as A challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel.

11. The system according to claim 10, wherein: When a challenge-response protocol is initiated between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel using the data processor: The data processor within the ego vehicle is further adapted to send a challenge to the target vehicle via the wireless communication channel; and The data processor in the target vehicle is adapted to: sending an expected response time to the challenge to the ego vehicle via the wireless communication channel; and A response is sent to the ego vehicle via the visible light communication channel.

12. The system according to claim 11, wherein The data processor in the ego vehicle and the data processor in the target vehicle are adapted to synchronize a clock in the ego vehicle with a clock in the target vehicle.

13. The system according to claim 12, wherein: After synchronizing the clock in the ego vehicle with the clock in the target vehicle, the data processor in the ego vehicle is further adapted to divide the timeline into time slots of predetermined lengths, wherein, when an expected response time to the challenge is sent via the wireless communication channel, the data processor in the target vehicle is further adapted to identify the time slot in which a response to the challenge is to be sent.

14. The system according to claim 13, wherein: When sending an expected response time to the challenge via the wireless communication channel, the data processor in the target vehicle is further adapted to send information related to the current position and movement of the target vehicle to the ego vehicle via the wireless communication channel, and at the expected response time, the data processor in the ego vehicle is further adapted to: estimating a position of the target vehicle; identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; as well as Verifying that the response from the target vehicle matches the expected response.

15. The system according to claim 14, wherein: The challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using a session key encrypted using a symmetric key.

16. The system of claim 14, wherein: The challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using public key encryption.

17. The system of claim 14, wherein: The data processor in the target vehicle is adapted to send an expected response time to the challenge to the ego vehicle via the wireless communication channel after the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

18. The system of claim 14, wherein: The data processor in the target vehicle is adapted to send an expected response time to the challenge to the ego vehicle via the wireless communication channel before the data processor in the ego vehicle sends the challenge to the target vehicle via the wireless communication channel.

19. A method for robustly associating a physical identifier and a virtual identifier of a target vehicle via an ego vehicle, comprising: collecting data related to the physical identifier of the target vehicle using a plurality of perception sensors within the ego vehicle, and transmitting the data related to the physical identifier of the target vehicle to a data processor within the ego vehicle via a communication bus; collecting, using the data processor in the ego vehicle, data related to the virtual identifier of the target vehicle via a wireless communication channel; associating, using the data processor within the ego vehicle, the physical identifier of the target vehicle with the virtual identifier of the target vehicle; synchronizing a clock in the ego vehicle with a clock in the target vehicle using the data processor in the ego vehicle and the data processor in the target vehicle; dividing a timeline into time slots of predetermined length using the data processor within the ego vehicle; initiating, using the data processor within the ego vehicle, a challenge-response protocol between the ego vehicle and the target vehicle via the wireless communication channel and the visible light communication channel by sending a challenge to the target vehicle via the wireless communication channel; transmitting, using a data processor within the target vehicle, to the ego vehicle via the wireless communication channel, an expected response time to the challenge, including identifying a time slot within which a response to the challenge is to be transmitted and information related to a current position and movement of the target vehicle; as well as In the expected response time: utilizing the data processor in the target vehicle to send a response to the ego vehicle via the visible light communication channel; estimating a position of the target vehicle using the data processor of the ego vehicle; identifying the physical identifier of the target vehicle based on the estimated position of the target vehicle using the perception sensor on the ego vehicle; as well as The data processor within the ego vehicle is utilized to verify that the response from the target vehicle matches an expected response.

20. The method according to claim 5, wherein The challenge sent by the ego vehicle and the response sent by the target vehicle are encrypted using one of a session key using symmetric key encryption and public key encryption.

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